Design of 2-DOF PID Control for Wall-Climbing Quadrotors under Surface Variability

Design of 2-DOF PID Control for Wall-Climbing Quadrotors under Surface Variability | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Design of 2-DOF PID Control for Wall-Climbing Quadrotors under Surface Variability sandeep gupta This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7476767/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper addresses set point tracking control for a wall–climbing quadrotor operating over surfaces of varying inclination and contact properties. We formulate the problem as reference tracking along the climbing axis under changing effective gravity projection and surface interaction, and we evaluate a two–degree–of–freedom (2-DOF) PID controller with set–point weighting and a command prefilter against a classical (1-DOF) PID baseline. Numerical simulations across multiple surface scenarios (e.g., changes in inclination/friction and step commands) indicate that the 2-DOF PID consistently improves transient performance and control economy: overshoot is reduced, settling is faster, and peak/average control effort is lower, while maintaining zero steady–state error. These results suggest that simple structural modifications to PID without resorting to complex nonlinear designs can yield meaningful performance gains for contact–constrained aerial locomotion. The study is simulation–only, but the observed trends are robust across tested operating conditions, otivating future hardware validation and surface–aware gain scheduling. Robotics Wall climbing quadrotor set point tracking 2-DOF PID control contact–constrained flight surface variability simulation study robustness Full Text Additional Declarations The authors declare no competing interests. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7476767","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":506706031,"identity":"31d21545-d2a0-4b69-a714-0b6eb7416255","order_by":0,"name":"sandeep gupta","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAyElEQVRIiWNgGAWjYBADOTZmBmYwi404DQkMxmzMzCRqSWxggGohCORnt1+TLvxhl97Hzn/YgKHGjoFPugG/FoM7Z8qkZyQk57YBHZbAcCyZgU3mAAEtEjlp0jwJzGAtBxjYgEgigYDDZoC11KezgbX8I0ILw430Y0AthxNAWhIY24jQYnAjh9l6RtpxQ6DDjA0S+5J5iHBY+sPbBTbV8vL9Bx9LfPhmJyc/g5DDGHgMEPEBVMxDSD0QsD8gMgpHwSgYBaNgxAIAl6Ey+B18VJoAAAAASUVORK5CYII=","orcid":"https://orcid.org/0000-0001-9876-8859","institution":"indian institute of technology kanpur","correspondingAuthor":true,"prefix":"","firstName":"sandeep","middleName":"","lastName":"gupta","suffix":""}],"badges":[],"createdAt":"2025-08-28 06:16:01","currentVersionCode":1,"declarations":{"humanSubjects":false,"vertebrateSubjects":true,"conflictsOfInterestStatement":false,"humanSubjectEthicalGuidelines":false,"humanSubjectConsent":false,"humanSubjectClinicalTrial":false,"humanSubjectCaseReport":false,"vertebrateSubjectEthicalGuidelines":true},"doi":"10.21203/rs.3.rs-7476767/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7476767/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":90139261,"identity":"88f95b73-d587-45c7-825e-df0c6040cef6","added_by":"auto","created_at":"2025-08-29 03:16:49","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":714857,"visible":true,"origin":"","legend":"","description":"","filename":"IEEEWCRpaperengrxiv.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7476767/v1_covered_f17b4483-ab36-4bd9-a0a4-3375f1059a45.pdf"}],"financialInterests":"The authors declare no competing interests.","formattedTitle":"\u003cp\u003eDesign of 2-DOF PID Control for Wall-Climbing Quadrotors under Surface Variability\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":true,"highlight":"","institution":"Indian Institute of Technology Kanpur","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Wall climbing quadrotor, set point tracking, 2-DOF PID control, contact–constrained flight, surface variability, simulation study, robustness","lastPublishedDoi":"10.21203/rs.3.rs-7476767/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7476767/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper addresses set point tracking control for a wall–climbing quadrotor operating over surfaces of varying inclination and contact properties. 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